Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

2015 ◽  
Vol 27 (1) ◽  
pp. 29-42 ◽  
Author(s):  
Auday Al-Mayyahi ◽  
Weiji Wang ◽  
Phil Birch
Keyword(s):  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Ground Vehicle ◽  
Fractional Order Controller

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zafer Bingul ◽  
Oguzhan Karahan
Keyword(s):  
Dynamic Model ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Fuzzy Pid ◽  
Simulation Environment ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Control Approach ◽  
Coupling Dynamic

Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

Robust Trajectory Tracking Control for AUV System Based on Fractional-Order PD Controller

2018 ◽  
Author(s):  
Sainan Li ◽  
Lu Liu ◽  
Mingyong Liu ◽  
Shuo Zhang ◽  
Yang Yang ◽  
...  
Keyword(s):  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Pd Controller ◽  
Trajectory Tracking Control

scholarly journals PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

2021 ◽  
Vol 5 ◽  
pp. 157-181
Author(s):  
. Iswanto ◽  
Alfian Ma’arif ◽  
Nia Maharani Raharja ◽  
Gatot Supangkat ◽  
Fitri Arofiati ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Position Control ◽  
Performance Criterion ◽  
Inhalation Therapy ◽  
Motor Speed ◽  
Trajectory Tracking Control ◽  
Ground Vehicle ◽  
Robot Trajectory ◽  
Heading Control

Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF

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